Parameter self-tuning LQR path tracking method with PID corner compensation

The invention discloses a parameter self-tuning LQR path tracking method with PID corner compensation. The parameter self-tuning LQR path tracking method comprises the following steps of receiving the reference path information, and the current pose information and the motion state information of a vehicle; determining a target reference point according to the received information, and calculating deviation between the vehicle and the target reference point; according to the vehicle speed information, a vehicle speed-based LQR control weight adjustment method being adopted to determine a control weight; a front wheel turning angle of the vehicle being calculated through an LQR control method; calculating a compensation front wheel rotation angle by adopting a preview PID method; and the vehicle steering wheel angle control quantity being calculated and transmitted to a steering execution mechanism. According to the method, a common LQR control method is improved, and a preview PID control method is adopted to